Gripper for gripping, moving and depositing a pallet

ABSTRACT

The present invention concerns a gripper for gripping, moving, orienting, and depositing a pallet. The gripper includes a gripping means for gripping the pallet at the longitudinal side members of a pallet. The gripper is suitable for being hinged to an automated manipulator moving along a support structure, thus making it possible to move, orient, and deposit a pallet in a loading position on the support structure or in an unloading position, for example, on the ground.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a §371 filing of PCT application PCT/FR2015/051406filed on May 27, 2015, which claims priority from French application FR1454779 filed on May 27, 2014. The disclosures of these applications areincluded by reference herein in their entirety.

BACKGROUND

Technical Field

The present invention relates to the general technical field of thetransportation of freight, notably the transportation of loads placed onpallets. These loads are for example cars presenting the same ordiffering outlines.

More specifically, the invention especially concerns the gripper of anassembly or system for locking a palette on a support structure defininga loading space. The grippers of such a locking assembly canadvantageously equip a road vehicle of the following types van, trailer,semitrailer, articulated convoy, a container destined to be loaded ontoa semitrailer or a container carrier or a wagon.

Such a locking system, comprising such grippers, can also be used withina warehouse or the like.

Description of the prior art

It is known, for example, from U.S. Pat. No. 4,597,712 an apparatus forloading and unloading semitrailers. This apparatus is mounted at therear end of a loading space and comprises articulated arms for laterallygripping a vehicle bearing on wheel supports and for moving the assemblyto a loading position. The various operations and movements arecontrolled by an operator working at a control console.

Such an apparatus, apart from its complexity, has the drawback of beingcontinuously controlled by an operator. In addition, the operator doesnot always have all of the information necessary for optimal loading,unloading, optimal transportation or distribution imposing specialrestrictions. It can thus happen that the loads, including vehicles, areplaced in non-optimal, even dangerous, loading positions or that thelocking of loads onto their support structure is either not performed oris insufficient. This would result in an obvious lack of safety duringtransportation, in particular at the expense of the integrity of theloads. The operator would be placed in danger when verifying the correctattachment of the loads.

U.S. Pat. No. 5,525,026 A describes a device for storing and/ortransporting goods with irregular shapes, such as vehicles and usingpallets upon which these vehicles are placed. A crane movinglongitudinally along rails within a trailer carries a palletlongitudinally and vertically from a loading area to a selected frontstorage position and cause the pallet to rotate on a non-vertical axis,so that it passes from a loading position to a transportation position.The crane includes a pre-programmable automatic control which cancontrol the operation of the crane and select positions and storageorientations in order to optimize the use of the space within thetrailer. A telescopic pin provided at each end of the pallet allows thepallets to be attached, in a non permanent way, to the walls of thetrailer and to be oriented in the desired storage position. To this end,each pin is designed to penetrate one of the receptor orificesdistributed within the walls of the trailer. A light source providedbehind each hole helps to visually ensure the proper engagement of eachtelescopic pin within a receptor orifice.

By design, including the fact that it uses a crane for the handling ofpallets, the device of U.S. Pat. No. 5,525,0261 A does not allow palletsto be positioned within the upper part of the space within the trailer,especially without having to change it in a way that would greatlyexceed the maximum permitted height. This system, using a single pinprovided at each corner of the pallet for locking, limits the number ofpossible positions for the pallets within the locations provided for thereceptor orifices distributed within the walls of the trailer.Furthermore, particularly in the case where a pin would not engage withthe intended receptor orifice, the palette would not be restrainedcorrectly and would be a source of danger. Similarly the visualinspection means of the locking of each pin, in addition to beingcumbersome, bulky, expensive and unreliable, could easily be hindered ordamaged and thus completely unusable. This is likely to affect thereliability of the locking.

DISCLOSURE OF THE INVENTION

The object of this invention is therefore to overcome the drawbacks ofthe prior art by providing a new simple and efficient pallet gripper.

A further object of the present invention is to propose a new lockingassembly or system, comprising grippers, that ensures the reliablelocking of a pallet on a support structure.

A further object of the present invention is to provide a new lockingassembly or system, comprising grippers, allowing the use of palettesand support structures that do not need to be directly powered by anelectrical, hydraulic or pneumatic energy source.

The objects of the invention are achieved by means of a gripper tograsp, move, orient and deposit a pallet, comprising attachment meansfor gripping the pallet along the longitudinal side members of saidpallet, characterized in that said gripper is designed to be hinged onan automated manipulator moving along a support structure, therebyallowing the pallet to be moved, oriented and deposited in a loadingposition on the support structure or in an unloading position forexample on the ground.

In one embodiment of the gripper according to the invention, theattachment means comprise:

-   -   a centering pin protruding from the lower face of the gripper,        designed to engage in a centering hole formed on the upper face        of a side member, and    -   two snap locks of the twistlock type, located on either side of        the centering pin and driven by means of an actuator and a        spindle integrated into the gripper in order to rotate said snap        locks from a release orientation to a locked orientation of the        pallet and vice versa, said snap locks being designed to engage        in attachment openings formed on the upper face of the side        member.

In one embodiment according to the invention, the gripper comprises aninductive sensor for detecting the contact of the upper face of the sidemember with the lower face of the gripper when the centering pin isfully engaged in the centering hole.

In one embodiment of the gripper according to the invention, theattachment means comprise at each gripper snap lock, a load sensor toverify, at the start of the lifting of the pallet by the grippers, thateach snap lock, in its locking orientation, is correctly attached to thecorresponding side member.

In one embodiment of the gripper according to the invention, each loadsensor comprises an analog output proximity sensor associated with aBelleville washer system, the compression of which, as a function of theload being raised by a gripper, results in a relative displacementbetween a target, supported by the Belleville washer system, and theproximity sensor, the amplitude of the output signal from said proximitysensor being directly dependent upon the mass being raised.

In one embodiment according to the invention, the gripper comprisesactuation means suitable for being arranged in a position in which theymechanically engage with drive members of said pallet, said drivemembers moving locking/unlocking studs of said pallet.

The actuation means are advantageously intended to be entirely receivedwithin the side members.

In one embodiment of the gripper according to the invention, theactuation means are arranged in a protruding manner on a lower face ofeach gripper, said lower face coming into contact with an upper face ofa side member during its attachment and said side member presenting anopening on its upper face for receiving said actuation means.

In one embodiment of the gripper according to the invention, theactuation means comprise an actuator, of the hydraulic cylinder type,having a control rod whose free end is designed to cooperate with thedrive members.

The objects of the invention are also achieved with the help of aloading and storage system equipped with a support structure for storingloaded or unloaded pallets, a manipulator with grippers, such as thosedescribed above, allowing for the gripping, moving, orienting anddepositing of pallets in predetermined positions on the supportstructure.

An advantage of the gripper according to the invention lies in itssimplicity and limited overall dimensions.

A further advantage of the locking assembly, comprising grippersaccording to the invention, lies in taking into account a large numberof data related, for example, to constraints regarding transportation,load weights and in a degree of locking reliability to ensure sufficientlocking safety for the transportation of such loads. Automatic alertscan be generated by the system when one or more locking points arefailing.

Another advantage of the locking assembly, comprising grippers accordingto the invention, lies in saving substantial time during loading andunloading operations. Specifically, the automation of these operationsincluding those relating to the locking and unlocking of the pallets,allows the operator, for example when loading cars, to go get anothercar to load, whilst the automated controller proceeds with the automatedplacement of a car within its loading position. Similar time savings areobserved during unloading operations. The locking and unlocking isperformed automatically and in masked time, therefore not negativelyaffecting, as regards the duration, the loading and unloading of avehicle.

An advantage of the locking assembly, comprising grippers according tothe invention, resides in the high reliability and in the high level ofsafety that it provides and this despite a high degree of automation.

Another advantage of the locking assembly, comprising grippers accordingto the invention, lies in the fact that it can be adapted to all typesof pallet supported loads as well as to all types of road or railvehicles.

Another advantage of the gripper according to the invention, lies in thefact that if damaged it can easily be replaced or repaired at the end ofthe manipulator.

Another advantage of the invention lies in the absence of electrical,hydraulic or pneumatic input energy for the support structure and thepalette, for locking and unlocking operations. The design andconstruction of the palette on the one hand and of the support structureon the other hand are consequently simplified. The supply of energy cantherefore be limited to the manipulator and the gripper.

BRIEF DESCRIPTION OF THE FIGURES

Other features and advantages of the invention will become clearer inreading the description that follows, made in reference to the attachedfigures, given by way of non-limiting examples, in which:

FIG. 1 is a perspective view of an embodiment of a vehicle that can beloaded and unloaded using supporting pallets, that are locked andunlocked on a support structure by means of grippers according to theinvention,

FIG. 2 is a schematic top view, of an embodiment of an empty loadingpallet, designed to be locked and unlocked on a support structure bymeans of a gripper assembly according to the invention,

FIG. 3 is a perspective view of an embodiment of a gripper positionednext to a palette to be grasped, which incorporates some of the elementsconstituting said gripper according to the invention,

FIG. 4 is a perspective view of an embodiment of the pallet gripper ofFIG. 3,

FIG. 5 shows in longitudinal section, the gripper of FIG. 3,

FIG. 6 shows, according to a partial top view, an embodiment of thegripper of FIG. 3,

FIGS. 7 and 8 illustrate partially and in perspective a gripper attachedto a pallet, with a locking assembly according to the inventionrespectively in an unlocked state and in a locked state,

FIG. 9 represents in cross-sectional view, an expanded detail A fromFIG. 4,

FIGS. 10 and 11 illustrate partially and in cross-sectional view alocking stud of a locking assembly comprising grippers according to theinvention, integrated into a palette and respectively in an unlockedstate and in a locked state,

FIG. 12 illustrates partially and in cross-sectional view a locking studof a locking assembly including grippers according to the invention,integrated in a position wherein it butts against the support structurepreventing said stud from locking,

FIG. 13 illustrates according to a perspective view a further embodimentof the locking assembly comprising grippers according to the invention,and

FIGS. 14 and 15 illustrate according to partial cross-sectional views,respectively a locking state and an unlocking state of the lockingassembly comprising grippers of FIG. 13.

EMBODIMENT(S) OF THE INVENTION

Structurally and functionally identical elements that appear in morethan one figure are assigned the same numeric or alphanumeric reference.

FIG. 1 illustrates a loading phase in which a palette 1 supports a load2, in this case a car, during the loading onto a vehicle, for example asemitrailer 3.

The loaded pallet 1 is moved by means of a motorized manipulator 5 whichgrasps the pallet 1 by means of two grippers 6. The manipulator 5contains preferably two side arms 5 a each ending in a gripper 6. Thepalette 1 is therefore gripped or attached via the gripper 6 on each ofits sides and more specifically on each of its longitudinal side members11.

A cart 4 carrying the manipulator 5 moves on guide rails 3 a extendingalong and on either side of a delimited cargo space within thesemitrailer 3. The cart 4 allows the manipulator 5 and consequently thepalette 1 to be moved within the cargo space.

The side arms 5 a are advantageously telescopic and hinged on the cart 4and the grippers 6 are in turn hinged on the lower extremities of saidside arms 5 a.

The manipulator 5 allows, on the one hand, the palette 1 to be moved ina vertical direction and in a horizontal direction, and on the otherhand the orientation of the palette 1 to be changed by means of thegrippers 6.

The movement and orientation of the palette 1 are notably achieved bymeans of actuators, such as hydraulic cylinders which will not befurther described in detail here. It is also possible to use electric orpneumatic actuators.

The semitrailer 3 advantageously has on its lateral sides, side wallsforming a support structure 7, which is provided with housings 7 b. Forreasons of simplicity, the support structure 7 delimiting the cargospace is only partially shown in FIG. 1. The support structure 7advantageously extends between the upright members 8 connecting the base9 of the semitrailer 3 to longitudinal rails 3 a.

FIG. 2 is a schematic representation in top view, of an embodiment of apallet 1. The palette 1 is for example particularly suitable for thetransportation of cars. To this end, the palette 1 has two longitudinalextremity areas 10 that are intended to support the wheels of a car. Thelongitudinal extremity areas 10 are interconnected by means of sidemembers 11.

The palette 1 also includes movable and retractable studs 12. The studs12 are mounted sliding within the side members 11 of the pallet 1 andare designed to engage in housings 7 b provided within the supportstructure 7.

The studs 12 are arranged in the vicinity of each longitudinal extremityof the side members 11, such as to constitute the locking elements ofsaid extremities. Advantageously each end area of a side member 11 isprovided with three studs 12, which are intended to be moved between aretracted position within the side member 11, corresponding to theunlocking of the palette 1, and a laterally protruding position (notshown in this figure) on the side members 11 corresponding to thelocking of said pallet 1.

There are preferably three studs 12 at each end area of a side member11, although this number may be equal to two or more than three. Havingseveral studs 12 at each end area of a side member 11 has severaladvantages.

First of all, this multiplicity of studs 12 allows finer positioning foreach pallet 1 for a given number of housings 7 b arranged within thesupport structure 7. Thus, for the same number of housings 7 b, havingseveral studs 12 multiplies the number of potential positions andorientations for each pallet 1.

This multiplicity of studs 12 then provides better safety for theassembly, because the provision of several studs 12 at each end area ofa side member 11 allows for an increase in the probability of at leastone of these studs 12, located at each end of the side member, engagingin a housing 7 b when locking the palette 1. Specifically, for examplein the case of the distortion of a pallet or of the support structure 7,it can occur that for a given pallet locking position, a stud 12designed to engage in a housing 7 b is not in front of it, but thatthanks to the invention a different stud 12 is then able to engage init.

FIG. 3 shows in perspective view an embodiment of a gripper 6 positionednext to a pallet 1 to be grasped.

The pallet 1 advantageously incorporates some of the elements of alocking assembly for immobilizing the pallet 1 on the support structure7. To this end each side member 11 includes drive members for moving thestuds 12.

The locking assembly according to the invention also comprises removableactuation means, arranged within or on the pallet 1, in a position ofmechanical cooperation with the drive members. The actuation means areused to control the movement of the studs 12. The actuation means areadvantageously carried by the grippers 6.

The grippers 6 also include attachment means for grasping the pallet 1along the side members 11. The attachment thus performed allowsmotorized, and, if necessary, automated manipulators 5 to move, orientand deposit the pallet 1 in a predetermined loading position on thesupport structure 7.

The gripper 6 shown in particular in FIGS. 3, 4 and 5 thereforeadvantageously carries the actuation means. The latter are at leastpartially arranged protruding from the lower face 13 of the gripper 6.

The lower face 13 is intended to come into contact with an upper face 14of the side member 11 during the attachment of the gripper 6 to saidside member 11. To this end the upper face 14 preferably presents anopening 15 for receiving the actuation means when the pallet 1 isfastened to the gripper 6. The actuation means thus extend at leastpartially within the side member 11.

In a preferred embodiment of the invention, the actuation means areadvantageously fully received into the opening 15 on each side member11, as can be seen in FIGS. 7 and 8. This feature allows the distancebetween the grippers 6 and the pallets 1 to be reduced, which inparticular allows the pallets 1 to be positioned in elevated place whileminimizing the amount of empty space necessary above the semitrailer 3during this operation.

Similarly, the fact that the actuation means are fully received withineach side member 11 allows them to apply their torque directly to thedrive members that move the studs 12 without an intermediate mechanicalconnection, thus offering greater reliability and power to the assembly.

The actuation means preferably comprise an electric actuator 16 or ahydraulic cylinder or a pneumatic type actuator. The actuator 16 has arod 17 whose free end 17 a is designed to cooperate with the drivemembers.

The attachment means are described in more detail by means of FIGS. 5and 6.

FIG. 5 represents a cross-sectional view of the gripper 6 showing theattachment means. These are also shown in their relative positions withrespect to the side member 11 in FIG. 6.

The attachment means comprise a centering pin 18 protruding from thelower face 13 of the gripper 6. This centering pin 18 is designed toengage with a centering hole 19 formed on the upper face 14 of the sidemember 11 during the attachment of the pallet 1 to the gripper 6.

The attachment means also comprise two twistlocks 20 which are locatedon either side of the centering pin 18.

The attachment means also include an attachment actuator 21 housedwithin the gripper 6. The attachment actuator 21, of the hydrauliccylinder type, has a rod 22 connected to a spindle 23. The latterinterconnects the twistlocks 20 in such a way as to rotate them from arelease position of the pallet 1 to a locking position of the pallet 1and vice versa under the action of the rod 22.

The twistlocks 20 are intended to engage with attachment openings 24formed on the upper face 14 of side member 11.

The shape of the twistlocks 20 is chosen in order to complement theshape of the attachment openings 24, in such a way as to secure the sidemember 11 to the gripper 6 when said twistlocks 20 are in a lockingorientation. Conversely when the twistlocks 20 are in their releaseorientation, the complementary shapes of said twistlocks 20 and theattachment openings 24 allow the gripper 6 to free from the side member11.

Advantageously, the gripper 6 comprises an inductive sensor 25 fordetecting the contact of the upper face 14 of side member 11 with thelower face 13 of the gripper 6 when the centering pin 18 is fullyengaged in the centering hole 19.

In a preferred embodiment of the locking assembly according to theinvention, the attachment means also comprise at each twistlock 20 aload sensor 26. Said load sensor 26 is used to determine at the start ofthe lifting of the pallet 1 by the grippers 6, illustrated by the arrow20a, if the attachment is performed correctly. The load sensor 26 canthus detect, when the twistlocks 20 are in their locking position, thatthe side member 11 is correctly attached to said twistlocks 20.

Each load sensor 26 is advantageously implemented with a proximitysensor 26 a. The latter, having an analog output, is associated with aBelleville washer system 27, the compression of which, as a function ofthe load being raised by the grippers 6, results in a relativedisplacement between a target 28, supported by the Belleville washersystem, and said proximity detector 26 a. The amplitude of the outputsignal from the proximity sensor is thereby dependent upon the massraised. The movement of the target 28 is schematically shown for exampleby the arrow 28 a in FIG. 9.

The use of load sensors 26, called intelligent, makes it possible forexample to determine the mass raised, to calculate the center of gravityof the raised load, to calculate the total transported load, tocalculate the center of gravity of the load and the axle weight. Theoperator can thus verify that the maximum axle load is not exceeded.

To this end, electronic and computer means are advantageously associatedwith the load sensors 26. The variety of information delivered by theload sensors 26 and thereby the calculations relating thereto mayadvantageously be stored in a “black box” for the purpose of subsequentchecks.

The drive members of the locking assembly according to the invention areshown more particularly in FIGS. 3, 7 and 8.

The drive members comprise a mobile yoke 30 mounted movable intranslation within the side member 11. The yoke 30 is designed to slidewithin the longitudinal member 11.

The yoke 30 preferably has an anchor recess 30 a for receiving the freeend 17 a of the rod 17 of the actuator 16.

The drive members also comprise a connecting rod 31, threaded, passingthrough the tapped yoke 30. The connecting rod 31 thereby presents athread that engages with the tapping of the yoke 30 in such a way as totransform a translational movement of the yoke 30 into a rotationalmovement of said connecting rod 31. The connecting rod 31 is preferablyheld by at least one bearing 32, integral to the side member 11, andprovided with a bushing or a roller bearing.

The connecting rod 31 has a cam 33 at each end that is kinematicallyconnected to studs 12 for transforming a rotational movement of saidconnecting rod 31 into a translational movement of said studs 12.

The studs 12, represented for example in greater detail in FIGS. 10, 11and 12, are advantageously mounted within a block 35 which is mountedsliding within the side member 11. The block 35 thus slides transverselywithin the side member 11, between a locked position and an unlockedposition and vice versa.

The pallet 1 comprises blocks 35 which are located at the fourlongitudinal ends of the pallet 1. Each block 35 comprising for examplethree studs 12 is preferably mounted sliding within a slide chamber 36specifically provided within the side member 11.

Each cam 33, being rotationally integral to the connecting rod 31 andhinged to a block 35, thereby controls the transverse movement of saidblock 35.

In FIG. 10, the block 35 is held in an unlocked position by means of thecam 33. In this unlocked position, an internal abutment 37 of the block35 rests against an inner face 11 a of the side member 11.

The stud 12 is mounted individually sliding and preloaded in a positionprotruding from the block 35 by means of a spring 38. The latter allowsthe stud 12 to remain protruding from the block 35 in a positioncorresponding to a support of a peripheral edge 12 a on an internalabutment 39 of the block 35. This relative position between the stud 12and the block 35 is retained when said stud 12 is in a locked state orposition in which it is engaged in a housing 7 b of the supportstructure 7, as shown for example in FIG. 11.

For example, the stud 12 has at its free end a safety flange 12 b. Thelatter is located preferably downwards from the free end of the stud 12in such a way as to optionally abut against a fixed part 7 c of thesupport structure 7 when said stud 12 is engaged within a housing 7 b.This prevents any disengagement of the stud 12 from the housing 7 b thatcould eventually result from failure of the locking assembly. Theimmobilization of the pallet 1 on the support structure 7 is therebymore secured. It is then appropriate to slightly raise the pallet 1 inthe direction shown schematically by the arrow D in FIG. 11 in order torelease the safety flange 12 b prior to the movement of the studs 12 tothe unlocked position.

FIG. 12 illustrates partially and in cross-sectional view a stud 12 in aposition of abutting against the fixed part 7 c of the support structure7. This situation prevents the stud 12 from engaging with a housing 7 band results in the compression of the spring 39.

Thus, when the block 35 moves to a locked position on the outside of theside member 11, this movement is not prevented by any eventual incorrectpositioning of one of the studs 12 in relation to a given housing 7 b.The individual mounting of the studs 12 within the block 35 allows otherstuds 12 to engage in a corresponding housing 7 b.

In FIG. 12, the arrow P schematically illustrates the pivotal movementof the cam 33 leading the block 35 towards its locked position. Thearrow F schematically illustrates the force exerted by the spring 38 onthe stud 12 which is almost entirely retracted into the block 35.

Such a situation does not therefore prevent the immobilization andlocking of the pallet on the support structure 7. For the locking of thepallet 1 it is sufficient for only one stud 12 of each block 35 to beengaged in a housing 7 b.

Advantageously a position sensor associated with each stud 12, allowsfor the detection and counting of the number of studs 12 abuttingagainst an obstacle and not participating in the locking of the pallet1. It then becomes possible to detect the number of studs 12 that arefor example jammed and thus not participating in said locking. Inaddition, the number of inactive studs 12 can be continuously monitoredduring a working phase. Information relating to maintenance can therebybe generated.

Automatically moving to another pallet 1 locking position can optionallybe controlled.

In the embodiment illustrated in FIGS. 13, 14 and 15, the yoke 30,movable in translation within the side member 11, is connected to atleast a control spindle 40 extending from each side and in the directionof travel of said yoke 30. A translational movement of the yoke 30 thentranslationally drives the control spindle 40.

The anchor recess 30 a formed within the yoke 30 is designed to receivethe free end 17 a of the control rod 17. The yoke 30 thus moves underthe action of the control rod 17.

The control spindle 40 has at each of its ends, a guide member 41,translationally integral to the control spindle 40 and kinematicallyconnected to studs 12 in order to transform the translational movementof the guide member 41 into movement of said studs 12, orthogonal tosaid translational movement.

The guide member 41 comprises an upper plate and a lower guide platethat can slide, respectively, above and below the block 35. Each guideplate is provided with oblique slots 42, within which pins 43 slideprotruding above and below each block 35. The oblique slots 42preferably have a slightly curved shape at one or both ends such as tomark the positions of the ends of travel of the pins 43 and to hold theblock 35 in position.

The sliding of the guide member 41 within the side member 11 makes itpossible to move the block 35 transversely with respect to said sidemember 11. The block 35 thus slides laterally between a locked positionillustrated for example in FIG. 14 and an unlocked position illustratedfor example in FIG. 15, and vice versa. The movements of the blocks 35and the studs 12 correspond to the movements described in more detail inFIGS. 10 to 12, thereby obtaining the locking and unlocking of thepallet 1 onto walls 7.

Electronic and computer means are advantageously integrated into thelocking assembly according to the invention in order to assist themovement and operation of its constituent elements. These electronic andcomputer means include in particular the ability to manage the signalsfrom the inductive sensors and proximity sensors.

The locking assembly according to the invention thus exhibits very highoperational safety insofar as any suspicious positioning of a lockingstud 12 is detected and corrected, if necessary automatically.

It is evident that this description is not limited to the examplesexplicitly described, but that it also includes other embodiments and/orimplementations. Thus, a technical feature described may be replaced byan equivalent technical feature, and an operational or implementationstep described may be replaced by an equivalent step without goingbeyond the scope of the invention.

1. A gripper for grasping a pallet, the gripper comprising attachmentmeans for gripping the pallet along longitudinal side members of thepallet, wherein the gripper is adapted to be mounted on an automatedmanipulator movable along a support structure, thereby allowing thepallet to be at least one of moved, oriented, and deposited in a loadingposition on the support structure or in an unloading position.
 2. Thegripper according to claim 1, the attachment means comprises: Acentering pin protruding from a lower face of the gripper, the centeringpin adapted to engage a centering hole on an upper face of one of theside members, and two snap locks located on either side of the centeringpin, both of the two snap locks driven by an actuator and connectingmeans mounted in the gripper.
 3. The gripper according to claim 2,wherein the connecting means comprises one of a spindle and a system ofspindles.
 4. The gripper according to claim 2, wherein each of the twosnap locks comprises a twistlock snap lock.
 5. The gripper according toclaim 4, wherein the actuator is adapted to rotate the two snap locksfrom a release orientation to a locked orientation and wherein each ofthe two snap locks is adapted to engage an attachment opening in theupper face of one of the side members.
 6. The gripper according to claim2, wherein the gripper further comprises an inductive sensor fordetecting contact of the upper face of one of the side members with thelower face of the gripper when the centering pin is fully engaged in thecentering hole.
 7. The gripper according to claim 2, wherein theattachment means further comprises at each of the two snap locks a loadsensor, the load sensor adapted to verify that each of the two snaplocks is attached to one of the side members.
 8. The gripper accordingto claim 7, wherein the load sensor comprises a proximity sensorassociated with a Belleville washer system, wherein compression of theBelleville washer system results in a relative displacement between atarget supported by the Belleville washer system and the proximitysensor.
 9. The gripper according to claim 1, wherein the gripper furthercomprises actuation means adapted to mechanically engage drive membersof the pallet, the drive members adapted to move studs of the pallet.10. The gripper according to claim 9, wherein the actuation means isfully received within one of the side members.
 11. The gripper accordingto claim 10, wherein the actuation means protrudes from a lower face ofthe gripper, the lower face contacting an upper face of one of the sidemembers during attachment and the one of the side members having anopening for receiving the actuation means.
 12. The gripper according toclaim 11, wherein the actuation means comprise an actuator having acontrol rod having a free end adapted to cooperate with the drivemembers.
 13. A loading and storage system comprising a gripper accordingto claim
 1. 14. The gripper according to claim 3, wherein each of thetwo snap locks comprises a twistlock snap lock.
 15. The gripperaccording to claim 14, wherein the actuator is adapted to rotate the twosnap locks from a release orientation to a locked orientation, andwherein each of the two snap locks is adapted to engage an attachmentopening-in the upper face of one of the side members.
 16. The gripperaccording to claim 14, wherein the attachment means further comprises ateach of the two snap locks a load sensor, the load sensor adapted toverify that each of the two snap locks is attached to one of the sidemembers.
 17. The gripper according to claim 16, wherein the load sensorcomprises a proximity sensor associated with a Belleville washer system,wherein compression of the Belleville washer system results in arelative displacement between a target supported by the Bellevillewasher system and the proximity sensor.
 18. The gripper according toclaim 17, wherein the gripper further comprises actuation means adaptedto mechanically engage drive members of the pallet, the drive membersadapted to move studs of the pallet.
 19. The gripper according to claim9, wherein the actuation means is fully received within one of the sidemembers.
 20. The loading and storage system comprising a gripperaccording to claim 2.